Control method, system and device of surgical robot and computer equipment

Abstract

The invention relates to a control method, system and device of a surgical robot and computer equipment. The method comprises the steps of obtaining a first pose of a surgical cannula placed in a region of interest, determining a cannula activity space corresponding to the surgical cannula according to the first pose and attribute information of the surgical cannula, and then controlling the tail end of a mechanical arm in the surgical robot to move into the cannula activity space so as to be in butt joint with the surgical cannula. By adopting the method, the operation complexity can be simplified.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a control method, system, device and computer equipment for a surgical robot. Background Art

[0002] With the advancement of robotics technology, surgical robots are increasingly being used in minimally invasive surgeries. Before surgery, the robotic arm of the surgical robot needs to dock with the surgical cannula in the patient's body.

[0003] However, currently, medical personnel need to use one hand to adjust the surgical cannula and one hand to adjust the robotic arm before the operation, and both hands work together to complete the docking of the robotic arm and the surgical cannula. Therefore, the current control method of the surgical robot has the problem of complex operation. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, system, device and computer equipment for a surgical robot that can simplify the complexity of operation in order to solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a control method for a surgical robot, comprising:

[0006] Obtaining the first pose of the surgical cannula placed within the region of interest;

[0007] Determine the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve;

[0008] The end of the mechanical arm in the surgical robot is controlled to move into the sleeve activity space to dock with the surgical sleeve.

[0009] In one embodiment, controlling the end of a robotic arm in a surgical robot to move into a sleeve activity space includes:

[0010] determining candidate points in the casing activity space;

[0011] Determine the target point from the candidate points;

[0012] The movement of the robot arm is controlled according to the position and posture of the target point so that the end of the robot arm moves to the sleeve activity space.

[0013] In one embodiment, determining a candidate point in the sleeve activity space includes:

[0014] According to the position and posture of each spatial point in the casing activity space, the inverse kinematics solution of the robot arm is performed;

[0015] The spatial points where inverse solutions exist are taken as candidate points.

[0016] In one embodiment, controlling the movement of a robotic arm according to the position and posture of a target point includes:

[0017] Perform inverse kinematics calculation on the robot arm according to the position and posture of the target point to determine the target angle of each joint in the robot arm;

[0018] Control the movement of the robotic arm based on the target angle and current angle of each joint in the robotic arm.

[0019] In one embodiment, the sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex.

[0020] In one embodiment, obtaining a first pose of a surgical cannula placed in a region of interest includes:

[0021] Acquire a second posture of the surgical cannula in a first coordinate system corresponding to the sensor through the sensor;

[0022] The first posture is determined according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0023] In one embodiment, the method further comprises:

[0024] When the end of the robotic arm is docked with the surgical cannula, determining the third posture of the surgical cannula;

[0025] In response to a drag operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm;

[0026] The robot arm motion is controlled according to the current angle of the target joint and the third pose.

[0027] In a second aspect, the present application also provides a control system for a surgical robot, including a surgical robot, a computer device, and a sensor component disposed on the surgical robot;

[0028] A sensing component, used for obtaining a first position of a surgical cannula placed in a region of interest;

[0029] The computer device is used to determine the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve, and control the end of the mechanical arm in the surgical robot to move into the sleeve activity space to dock with the surgical sleeve.

[0030] In one embodiment, the sensing component includes a supporting arm and a sensor; the first end of the supporting arm is connected to the surgical robot, and the sensor is arranged at the second end of the supporting arm.

[0031] In one embodiment, the sensing component is retractably connected to the surgical robot.

[0032] In a third aspect, the present application also provides a control device for a surgical robot, comprising:

[0033] An acquisition module, used for acquiring a first position of a surgical cannula placed in a region of interest;

[0034] A first determination module is used to determine a cannula activity space corresponding to the surgical cannula according to the first posture and attribute information of the surgical cannula;

[0035] The first control module is used to control the end of the mechanical arm in the surgical robot to move into the sleeve activity space so as to dock with the surgical sleeve.

[0036] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0037] In a fifth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of any of the above methods when executed by a processor.

[0038] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of any of the above methods when executed by a processor.

[0039] The control method, system, device and computer equipment of the above-mentioned surgical robot obtains the first posture of the surgical cannula placed in the region of interest, and determines the cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula. Then, the end of the robotic arm in the surgical robot can be controlled to move into the cannula activity space. Since the robotic arm can automatically move into the cannula activity space that the surgical cannula can reach, the robotic arm can easily dock with the surgical cannula. In the above process, there is no need for medical staff to adjust the surgical cannula with one hand and the robotic arm with one hand, so that the robotic arm can move into the cannula activity space and dock with the surgical cannula. Therefore, the method provided in this embodiment can simplify the complexity of operation. Furthermore, since the dependence on medical staff is reduced, the control efficiency and intelligence of the surgical robot can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 This is an application environment diagram of the control method of the surgical robot in the embodiment of the present application;

[0042] Figure 2 Schematic diagram of the control method of the surgical robot in the embodiment of the present application;

[0043] Figure 3 A schematic diagram of the process of controlling a surgical robot in the prior art;

[0044] Figure 4 This is a schematic diagram of the process of controlling the surgical robot in an embodiment of the present application;

[0045] Figure 5 This is a schematic diagram of a process for controlling a surgical robot in an embodiment of the present application;

[0046] Figure 6 This is a schematic diagram of a process for determining candidate points in an embodiment of the present application;

[0047] Figure 7 This is a schematic diagram of a process for controlling the movement of a robotic arm in an embodiment of the present application;

[0048] Figure 8 This is a schematic diagram of a sleeve activity space in an embodiment of the present application;

[0049] Fig. 9 This is a schematic diagram of a process for obtaining the first posture in an embodiment of the present application;

[0050] Fig.10 This is a schematic diagram of another process of controlling the movement of a robotic arm in an embodiment of the present application;

[0051] Fig.11 A schematic diagram of the principle of a control method for a surgical robot in an embodiment of the present application;

[0052] Fig.12 This is a process flow chart of a control method for a surgical robot in an embodiment of the present application;

[0053] Fig.13 This is a schematic diagram of the structure of a control system of a surgical robot in an embodiment of the present application;

[0054] Fig.14This is a schematic diagram of the structure of a surgical robot in an embodiment of the present application;

[0055] Fig.15 This is a structural schematic diagram of an adjustment mechanism in an embodiment of the present application;

[0056] Fig.16 This is a structural schematic diagram of a telecentric mechanism in an embodiment of the present application;

[0057] Fig.17 A schematic diagram of a sensor component in an embodiment of the present application;

[0058] Fig.18 This is a structural block diagram of a control and adjustment device for a surgical robot in an embodiment of the present application;

[0059] Fig.19 Schematic diagram of the internal structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] Figure 1 FIG. 1 is an application environment diagram of the control method of the surgical robot in the embodiment of the present application. The surgical robot 102 is connected to the computer device 103 for performing surgery on the patient on the operating table 101. The surgical robot 102 includes a plurality of mechanical arms, each of which includes at least one joint.

[0062] Taking laparotomy as an example, the robot arm can be divided into a scope holding arm and a tool holding arm according to the actual operation purpose. The scope holding arm is used to connect the endoscope, and the tool holding arm is used to connect the surgical instruments. In other words, in laparotomy, the surgical robot 102 includes at least one tool holding arm and one scope holding arm.

[0063] like Figure 1 As shown, the computer device 103 can be independently arranged outside the surgical robot 102, including but not limited to various personal computers, laptops, smart phones, tablet computers and portable wearable devices, and the portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. In some embodiments, the computer device 103 can also be implemented by an independent server or a server cluster composed of multiple servers.

[0064] In some embodiments, the computer device 103 may also be disposed inside the surgical robot 102. For example, the computer device 103 may also be a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or other programmable logic devices.

[0065] Please continue to refer to Figure 1 In some embodiments, the computer device 103 may include a main console 1031 and a visual system 1032. The medical staff may control the surgical robot 102 by operating the main console 1031 to perform the surgery. The visual system 1032 is used to feed back images during the surgery.

[0066] Figure 2 FIG. 1 is a flow chart of a control method of a surgical robot in an embodiment of the present application. In an exemplary embodiment, Figure 2 As shown, a control method for a surgical robot is provided, and the method is applied to Figure 1 The computer device in is used as an example for explanation, including the following S201 to S203.

[0067] S201, obtaining the first pose of the surgical cannula placed in the region of interest.

[0068] In this embodiment, the region of interest refers to the surgical area of ​​the patient, such as the abdominal cavity of the patient. Before using the surgical robot to perform surgery on the patient, the medical staff needs to place the surgical cannula in the region of interest; then, the computer device will obtain the first position of the surgical cannula, so the first position of the surgical cannula is the position of the cannula installed in the region of interest. Among them, in order to reduce the impact on the region of interest, the first position should not move. Therefore, determining the first position is to determine the fixed point during the operation, and the fixed point can also be called the telecentric point.

[0069] Optionally, the computer device can obtain the first posture by using a sensor set on the surgical cannula, or the computer device can obtain the first posture by using a sensor set on the surgical robot. The sensor includes but is not limited to a visual sensor, a position sensor, a posture sensor, and a magnetic field sensor. When the sensor is a magnetic field sensor, the surgical cannula includes a magnetic material.

[0070] It should be noted that the number of surgical cannulas can be multiple. Taking laparotomy as an example, four robotic arms are usually connected to corresponding surgical cannulas respectively, for example, the end of the scope holding arm in the robotic arm is connected to the surgical cannulas corresponding to the endoscope, and the end of the instrument holding arm in the robotic arm is connected to the surgical cannulas corresponding to the surgical instrument. In the case where there are multiple surgical cannulas, the computer device will obtain the first position corresponding to each surgical cannulas. It should be noted that in some embodiments, the number of cannulas is consistent with the number of robotic arms.

[0071] S202, determining a cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula.

[0072] In the case where the robotic arm has not been connected to the surgical cannula before the operation, the surgical cannula has been placed in the region of interest, but the surgical cannula is still movable. The cannula activity space corresponding to the surgical cannula is used to characterize the movable space of the surgical cannula, which may include a set of spatial coordinates that the end of the surgical cannula can reach. The cannula activity space can be any spatial shape, such as a cone, a sphere, etc.

[0073] The attribute information of the surgical cannula is used to characterize the size and shape of the surgical cannula, including but not limited to the length of the surgical cannula, the material of the surgical cannula, etc. The attribute information of the surgical cannula may be information stored in advance in the computer device, or may be information obtained by the computer device from other electronic devices when the cannula activity space needs to be calculated, or may be information determined by the computer device in response to the input operation of the medical staff.

[0074] Furthermore, the computer device can determine the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve. For example, after the medical staff inputs the length and material of the surgical sleeve, the computer device will determine the degree of bendability of the surgical sleeve according to the material of the surgical sleeve, and determine the spherical space that the surgical sleeve can reach when the first posture remains unchanged according to the length and first posture of the surgical sleeve as the sleeve activity space.

[0075] S203, controlling the end of the mechanical arm in the surgical robot to move into the sleeve activity space to dock with the surgical sleeve.

[0076] In this embodiment, after the computer device determines the first posture and the attribute information of the surgical cannula, the end of the mechanical arm in the surgical robot can be controlled to move into the cannula activity space. Optionally, the computer device can select any spatial point from the cannula activity space, and perform inverse kinematics solution on the mechanical arm according to the posture corresponding to the spatial point, and determine the motion strategy of the mechanical arm according to the result of the inverse kinematics solution, so as to control the motion of the mechanical arm according to the motion strategy.

[0077] When the end of the robotic arm moves into the sleeve activity space, the robotic arm can be docked with the surgical sleeve. The process of docking the robotic arm with the surgical sleeve is also the process of connecting the end of the robotic arm with the surgical sleeve.

[0078] After the end of the robotic arm moves into the sleeve activity space, the medical staff can manually connect the end of the robotic arm to the surgical sleeve. In this process, the medical staff only needs to adjust the surgical sleeve to complete the docking of the robotic arm and the surgical sleeve. It does not require the medical staff to use both hands and eyes to complete the docking, and greatly reduces the dependence on the dragging performance of the surgical robot, effectively improving the efficiency of preoperative docking.

[0079] In some embodiments, a connection mechanism may be provided in at least one of the end of the robotic arm and the surgical cannula, and then, after the end of the robotic arm moves into the active space of the cannula, the end of the robotic arm and the surgical cannula may be docked through the connection mechanism.

[0080] Figure 3 FIG. 1 is a schematic diagram of a process of controlling a surgical robot in the prior art. In the prior art, for example, Figure 3 As shown by the arrow in (a), before the operation, the medical staff will place the surgical cannula 303 in the area of ​​interest of the patient 302, and then adjust the surgical cannula with one hand and adjust the robotic arm 301 with the other hand to achieve Figure 3 (b) shows the effect of the end of the robotic arm 301 being connected to the surgical cannula 303.

[0081] However, Figure 3 In the method of using two hands to coordinate the docking of the robotic arm and the surgical cannula, on the one hand, it is more complicated for medical staff to operate, and in some application scenarios, medical staff often need to manually adjust the robotic arm to a suitable posture after docking, which is difficult to operate. On the other hand, this docking method is more dependent on the experience of medical staff, resulting in low control efficiency and intelligence.

[0082] Figure 4 FIG. 1 is a schematic diagram of the process of controlling the surgical robot in an embodiment of the present application. In the control method provided in this embodiment, as Figure 4 As shown in (a), after the medical staff places the surgical cannula 303 in the area of ​​interest of the patient 302, the computer device can obtain the first posture of the surgical cannula 303. Then, as shown in (b), the computer device will determine the cannula activity space corresponding to the surgical cannula 303 based on the first posture and the attribute information of the surgical cannula 303, and control the end of the robotic arm 301 to move into the cannula activity space. After the end of the robotic arm 301 moves into the cannula activity space, the robotic arm 301 can dock with the surgical cannula 303. Figure 4(c) shows the effect after the end of the robotic arm 301 is connected to the surgical cannula 303.

[0083] In the control method of the above-mentioned surgical robot, the first position of the surgical cannula placed in the region of interest is obtained, and the cannula activity space corresponding to the surgical cannula is determined according to the first position and the attribute information of the surgical cannula. Then, the end of the robotic arm in the surgical robot can be controlled to move into the cannula activity space. Since the robotic arm can automatically move into the cannula activity space that the surgical cannula can reach, the robotic arm can easily dock with the surgical cannula. In the above process, there is no need for medical staff to adjust the surgical cannula with one hand and the robotic arm with one hand, so that the robotic arm can move into the cannula activity space and dock with the surgical cannula. Therefore, the method provided in this embodiment can simplify the complexity of operation. Furthermore, since the dependence on medical staff is reduced, the control efficiency and intelligence of the surgical robot can also be improved.

[0084] Figure 5 FIG. 1 is a flow chart of controlling a surgical robot in an embodiment of the present application. In an exemplary embodiment, Figure 5 As shown, S203 includes S501 to S503.

[0085] S501, determining candidate points in the casing activity space.

[0086] In this embodiment, the computer device may use all spatial points in the sleeve activity space as candidate points, or may screen all spatial points in the sleeve activity space and determine the candidate points. For example, the computer device may use spatial points in the sleeve activity space located in a preset area as candidate points.

[0087] S502: Determine a target point from candidate points.

[0088] In this embodiment, the computer device can randomly determine one of the candidate points as the target point; it can also predict the arm distance between adjacent robotic arms when the end of the robotic arm moves to the candidate point based on the candidate point, and select the candidate point when the arm distance is the largest as the target point; the computer device can also display the candidate points and determine the target point from the candidate points in response to the selection operation of the medical staff. This embodiment is not limited to this.

[0089] S503, controlling the movement of the robot arm according to the position and posture of the target point, so that the end of the robot arm moves to the sleeve activity space.

[0090] In this embodiment, the process of controlling the end of the robot arm to move to the sleeve activity space is also the process of controlling the end of the robot arm to reach the target point. In other words, the posture corresponding to the target point is also the posture of the end of the robot arm after the movement. Therefore, after determining the target point, the computer device can control the movement of the robot arm according to the posture of the target point, so that the end of the robot arm moves to the sleeve activity space.

[0091] Optionally, the computer device can input the position and posture of the target point into a trained control model, and the control model determines the motion strategy of the robot arm, and controls the motion of the robot arm through the motion strategy. The control model can be a convolutional neural network (CNN), a recurrent neural network (RNN), or other deep learning networks, machine learning networks, etc.

[0092] In this embodiment, after determining the candidate points in the sleeve activity space, the target point is determined from the candidate points. Therefore, in the process of controlling the movement of the robot arm according to the position and posture of the target point, the end of the robot arm can be moved to the sleeve activity space efficiently and accurately.

[0093] Figure 6 FIG. 1 is a schematic diagram of a process for determining candidate points in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 6 As shown, S501 includes S601 to S602.

[0094] S601, performing inverse kinematics solution on the robot arm according to the position and posture of each spatial point in the sleeve activity space.

[0095] In this embodiment, when the computer device needs to determine the candidate points, it can first perform inverse kinematics on the robot arm according to the position and posture of each spatial point in the sleeve activity space. The computer device can traverse the sleeve activity space according to a preset step length to determine each spatial point.

[0096] Assuming that the casing activity space includes 100 spatial points 1 to 100, the computer device performs inverse kinematics solution on the robotic arm according to the posture 1 of spatial point 1, the posture 2 of spatial point 2, the posture 3 of spatial point 3...the posture 100 of spatial point 100.

[0097] S602, taking a spatial point for which an inverse solution exists as a candidate point.

[0098] In this embodiment, there are two results of performing inverse kinematics calculation on the robot arm, one is that an inverse solution exists, and the other is that an inverse solution does not exist. If an inverse solution exists, it means that the end of the robot arm can be controlled to move to the corresponding spatial point, so the computer device will use the spatial point with the inverse solution as a candidate point.

[0099] Continuing with the above example, assuming that there is no inverse solution when the inverse kinematics of the robot arm is solved according to posture 1, the computer device can delete spatial point 1; assuming that there is an inverse solution when the inverse kinematics of the robot arm is solved according to posture 2, the computer device can retain spatial point 2, and so on. The spatial points that are finally retained and have inverse solutions are used as candidate points.

[0100] In this embodiment, the inverse kinematics of the robot arm is solved according to the position and posture of each spatial point in the casing activity space, and the spatial points with inverse solutions are used as candidate points. Therefore, the determined candidate points can all control the movement of the robot arm, thereby improving the accuracy of the target point.

[0101] Figure 7 FIG. 1 is a flow chart of controlling the movement of a robot arm in an embodiment of the present application. In an exemplary embodiment, Figure 7 As shown, S503 includes S701 to S702.

[0102] S701, performing inverse kinematics solution on the robot arm according to the position and posture of the target point to determine the target angle of each joint in the robot arm.

[0103] Optionally, the robot arm may include an adjustment mechanism and a telecentric mechanism. Since the main function of the adjustment mechanism is to ensure the position of the fixed point of the telecentric mechanism, the joints of the robot arm are also the joints of the adjustment mechanism. Among them, the fixed point of the telecentric mechanism is also the end of the robot arm. Assume that the adjustment mechanism in the robot arm i includes joints 5, 6, 7 and 8, and the end position of the robot arm i is recorded as P i , the current angles of joints 5, 6, 7 and 8 are denoted as θ i5 ,θ i6 ,θ i7 and θ i8 Then P i With θ i5 ,θ i6 ,θ i7 and θ i8 The following relationship (1) is satisfied.

[0104] P i =f1(θ i5 ,θ i6 ,θ i7 ,θ i8 ) (1)

[0105] Among them, the position and posture of the target point is also the final end position and posture of the robot arm. Therefore, the computer device will perform inverse kinematics solution on the robot arm according to the position and posture of the target point. It can be understood that when the inverse kinematics solution of the robot arm is performed according to the position and posture of the target point, if there is an inverse solution, the inverse solution is also the target angle of each joint in the robot arm. The target angle indicates the angle of each joint of the robot arm after the end of the robot arm moves to the sleeve activity space.

[0106] Exemplarily, assuming that the robotic arm 1 of the surgical robot includes joints 5, 6, 7 and 8, the computer device performs inverse kinematics solution on the robotic arm 1 based on the position and posture of the target point. When an inverse solution exists, the target angle of joint 5, the target angle of joint 6, the target angle of joint 7 and the target angle of joint 8 in the robotic arm 1 can be determined.

[0107] S702, controlling the movement of the robotic arm according to the target angle and current angle of each joint in the robotic arm.

[0108] In this embodiment, the computer device can obtain the current angle of each joint in the mechanical arm. Optionally, the current angle of each joint in the mechanical arm can be obtained by a sensor. Then, the computer device can control the movement of the mechanical arm according to the target angle and current angle of each joint in the mechanical arm.

[0109] Optionally, the computer device may determine a first motion sequence of the robot arm according to the target angle and current angle of each joint in the robot arm. The first motion sequence may indicate the motion trajectory of each joint in the robot arm. Taking joint 5 of robot arm 1 as an example, the motion sequence of robot arm 1 may include the expected angle 1 of joint 5 at time 1, the expected angle 2 at time 2, the expected angle 3 at time 3, ... the expected angle t at time t. t is an integer greater than or equal to 1.

[0110] Afterwards, the computer device can control the movement of the robot arm according to the first motion sequence, so that the end of the robot arm moves to the sleeve activity space. For example, taking the joint 5 of the robot arm 1 as an example, the computer device can give the driving signal of the joint 5 of the robot arm 1 at each moment according to the first motion sequence of the robot arm 1 and the current angle of the joint 5 in the robot arm 1 at each moment, so that the actual angle of the joint 5 of the robot arm 1 at each moment meets the expected angle in the motion sequence.

[0111] Exemplarily, the computer device may perform motion planning for each joint in the robot arm, and perform correction processing on the sequence after motion planning to obtain the first motion sequence of the robot arm. Of course, the computer device may also directly determine the first motion sequence of the robot arm after performing motion planning for each joint in the robot arm, and this embodiment is not limited thereto. The above-mentioned motion planning may include, but is not limited to, a grid search method, a free space method, and a quadtree method.

[0112] Since this embodiment can perform inverse kinematics on the robot arm according to the position and posture of the target point to determine the target angle of each joint in the robot arm, after controlling the movement of the robot arm according to the target angle and current angle of each joint in the robot arm, the end of the robot arm can be controlled to move into the sleeve activity space. In addition, since the movement of the robot arm is controlled based on the target angle and current angle of each joint in the robot arm, the position and posture relationship between the robot arms is more scientific. Therefore, after controlling the movement of the robot arm, medical staff do not need to manually drag the robot arm to adjust the position and posture with each other, thereby improving the efficiency of preoperative operations and the operating space of the system.

[0113] Figure 8 FIG. 1 is a schematic diagram of a cannula activity space in an embodiment of the present application. In an exemplary embodiment, since the surgical cannula can be rotated around three directions in space after being placed in the region of interest, Figure 8 As shown, the sleeve activity space 801 includes a conical space with the sleeve position corresponding to the first posture as the vertex.

[0114] Exemplarily, the computer device may determine, based on the first posture and the length of the surgical cannula, a conical space formed with the cannula position corresponding to the first posture as the vertex, and use the conical space as the cannula activity space.

[0115] In this embodiment, since the sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex, the computer device does not need to perform complex calculations to determine the sleeve activity space, thereby improving subsequent control efficiency.

[0116] Fig. 9 FIG. 1 is a flow chart of obtaining the first posture in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Fig. 9 As shown, S201 includes S901 to S902.

[0117] S901, obtaining, through a sensor, a second posture of the surgical cannula in a first coordinate system corresponding to the sensor.

[0118] In this embodiment, taking the example of a sensor including a visual sensor arranged on a surgical robot, it can be understood that at this time the first coordinate system is the sensor coordinate system, and the visual sensor can shoot at a certain shooting frequency until the second posture of all surgical cannulas in the first coordinate system is obtained, and the second posture is returned to the computer device.

[0119] Medical staff can also place all surgical cannulas in the region of interest, adjust the visual sensor to a suitable angle, and then initiate an input operation to the computer device, so that the computer device responds to the input operation and sends a response signal to the visual sensor. After receiving the response signal, the visual sensor obtains the second posture.

[0120] S902, determining the first posture according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0121] In this embodiment, the second coordinate system is a coordinate system corresponding to the surgical robot, for example, a multi-arm system coordinate system. The computer device can determine the coordinate conversion relationship between the first coordinate system and the second coordinate system. Optionally, the computer device can obtain the coordinate conversion relationship sent by other electronic devices. The computer device can also determine the coordinate conversion relationship based on a navigation tracking method, which is not limited in this embodiment.

[0122] Furthermore, the computer device can transform the second posture of the surgical cannula in the first coordinate system according to the second posture and the coordinate transformation relationship in the first coordinate system to obtain the first posture of the surgical cannula in the second coordinate system.

[0123] In this embodiment, the second posture of the surgical cannula in the first coordinate system corresponding to the sensor is obtained by the sensor, and the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot. Therefore, according to the coordinate transformation relationship and the second posture, the first posture of the surgical cannula in the second coordinate system can be determined, thereby improving the efficiency of obtaining the first posture.

[0124] Fig.10 FIG. 1 is another flow chart of controlling the movement of a robot arm in an embodiment of the present application. In an exemplary embodiment, Fig.10 As shown, the above-mentioned control method of the surgical robot may further include S1001 to S1003.

[0125] S1001, when the end of the robotic arm is docked with the surgical cannula, determining the third posture of the surgical cannula.

[0126] After the robotic arm is connected to the surgical cannula, in some application scenarios, it may be necessary to adjust the relative posture relationship between the robotic arms in the surgical robot to meet the requirements of subsequent surgical operations. In the prior art, when adjusting each robotic arm, a medical staff member is required to manually fix the end of the robotic arm so that the end of the robotic arm remains motionless. In addition, at least one medical staff member is required to drag the adjustment mechanism of the robotic arm with both hands, and then the relative posture relationship between the robotic arms is ensured to ensure the space requirements of the operation. Therefore, the control method of the surgical robot in the prior art is complicated to operate, and requires two medical staff members, which consumes human resources. Furthermore, since the end of the robotic arm needs to be manually fixed by medical staff, the ease of use and reliability of the surgical robot are also low.

[0127] Therefore, in this embodiment, when the end of the robotic arm is docked with the surgical cannula, the computer device will obtain the third posture of the surgical cannula. The third posture of the surgical cannula can also be understood as the end posture of the robotic arm.

[0128] Optionally, since the first posture of the surgical cannula usually does not change after being placed in the region of interest, the computer device may use the first posture as the third posture.

[0129] The computer device may also obtain the third posture of the surgical cannula through a sensor. For example, the computer device may obtain the end posture of the robotic arm, that is, the third posture, through a posture sensor disposed at the end of the robotic arm.

[0130] In some embodiments, according to the above formula (1), when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the position of the robotic arm is fixed, so the computer device can obtain the current angle θ of each joint in the adjustment mechanism. i5 ,θ i6 ,θ i7 and θ i8 , and perform forward kinematics solution based on the current angles of each joint in the adjustment mechanism to determine the third pose.

[0131] The computer device can automatically detect whether the end of the robotic arm of the surgical robot is connected to the surgical cannula. Optionally, the computer device can detect whether the end of the robotic arm is connected to the surgical cannula through a sensor provided on the end of the robotic arm. The computer device can also detect whether a confirmation signal is received to detect whether the end of the robotic arm is connected to the surgical cannula. The confirmation signal can be a signal generated by the computer device in response to a triggering operation after the medical staff determines that the end of the robotic arm is connected to the surgical cannula.

[0132] S1002, in response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm.

[0133] In this embodiment, the mechanical arm includes a target joint. The target joint is a joint in the adjustment mechanism of the mechanical arm used to adjust the position of the mechanical arm. In this way, the medical staff can drag the target joint in the mechanical arm to adjust the position of the mechanical arm in space.

[0134] It is understandable that after the medical staff drags the target joint, the angle of the target joint will change, so the computer device can determine the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm. Exemplarily, a torque sensor can be set on the target joint, and the computer device obtains the direction and magnitude of the force on the target joint in real time through the torque sensor to determine the current angle of the target joint according to the direction and magnitude of the force.

[0135] In some embodiments, the medical staff may also trigger a completion operation after completing the dragging operation, so that the computer device can obtain instructions corresponding to the completion operation, thereby determining the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm.

[0136] S1003, controlling the movement of the robot arm according to the current angle of the target joint and the third posture.

[0137] In this embodiment, after determining the current angle of the target joint, the computer device can control the movement of the robot arm in combination with the current angle of the target joint and the third posture. Controlling the movement of the robot arm means controlling the robot arm to move while the posture of the end of the robot arm remains unchanged, that is, the third posture remains unchanged during the movement of the robot arm.

[0138] Optionally, the computer device can perform an inverse kinematics solution based on the third posture and the current angle of the target joint, and determine the target angles of other joints in the robotic arm if there is a solution. Afterwards, the computer device controls the movement of the robotic arm according to the target angles and current angles of the other joints. Exemplarily, the computer device can determine a second motion sequence of the robotic arm according to the target angles and current angles of the other joints, and control the movement of the robotic arm according to the second motion sequence.

[0139] It is understandable that in the above control process, other joints will move along with the movement of the target joint, wherein other joints are joints in the robot arm except the target joint.

[0140] In this embodiment, the third position of the surgical cannula is determined when the end of the robotic arm is docked with the surgical cannula, and after the current angle of the target joint is determined in response to the dragging operation of the target joint in the robotic arm, and the target joint is a joint in the robotic arm used to adjust the position of the robotic arm, the robotic arm can be controlled to move in the case where the third position remains unchanged according to the current angle of the target joint and the third position. The end of the robotic arm is docked with the surgical cannula, and the third position is also the end position of the robotic arm. That is to say, in this process, there is no need for medical staff to manually fix the end of the robotic arm so that the end of the robotic arm remains stationary, and only one medical staff needs to drag the target joint, and then the robotic arm can be moved to a suitable position in accordance with the intention of the medical staff, so the control method provided by this embodiment can simplify the complexity of the operation. Furthermore, since multiple medical staff and manual fixation are not required, human resources can be saved and the usability and reliability of the surgical robot can be improved.

[0141] In order to more clearly introduce the control method of the surgical robot in this application, Fig.11 and Fig.12 Provide explanation. Fig.11 FIG. 1 is a schematic diagram showing the principle of a control method for a surgical robot in an embodiment of the present application. Fig.11 As shown, before the operation, the medical staff places the surgical cannula in the area of ​​interest. After the computer device determines the first posture of the surgical cannula, the cannula activity space corresponding to the surgical cannula can be calculated. Then, the computer device can control the end of the robotic arm to move to the cannula activity space, so that the surgical cannula can be docked with the end of the robotic arm.

[0142] Furthermore, the computer device can determine whether all the robotic arms have been docked. The computer device can determine whether all the robotic arms have been docked in response to a completion operation triggered by a medical staff member, or the computer device can determine whether all the robotic arms have been docked through a sensor.

[0143] If there is an undocked robotic arm, the computer device continues to control the end of the undocked robotic arm to move to the sleeve activity space.

[0144] If all the robotic arms are docked, the surgical robot can enter the process of robotic arm positioning. During the process of robotic arm positioning, if the medical staff wants to adjust the robotic arm, they can initiate a drag operation on the target joint in the robotic arm. Then, the computer device can determine the third posture of the surgical cannula when the end of the robotic arm is docked with the surgical cannula, and in response to the drag operation on the target joint in the robotic arm, determine the current angle of the target joint, and finally control the movement of the robotic arm according to the current angle of the target joint and the third posture to achieve robotic arm positioning.

[0145] Fig.12 is a process flow chart of a control method of a surgical robot in an embodiment of the present application, such as Fig.12 As shown, the computer device executes the method according to the following process.

[0146] S1201, obtaining, through a sensor, a second posture of the surgical cannula in a first coordinate system corresponding to the sensor.

[0147] S1202, determining a first posture according to the coordinate transformation relationship and the second posture, wherein the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0148] S1203, determining the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve, wherein the sleeve activity space includes a cone space formed with the sleeve position corresponding to the first posture as the vertex.

[0149] S1204, performing inverse kinematics solution on the robot arm according to the position and posture of each spatial point in the sleeve activity space.

[0150] S1205, taking the spatial points for which inverse solutions exist as candidate points.

[0151] S1206: Determine the target point from the candidate points.

[0152] S1207, performing inverse kinematics solution on the robotic arm according to the position and posture of the target point to determine the target angle of each joint in the robotic arm.

[0153] S1208, controlling the movement of the robotic arm according to the target angle and current angle of each joint in the robotic arm, so that the end of the robotic arm moves to the sleeve activity space.

[0154] S1209, when the end of the robotic arm is docked with the surgical cannula, determine the third posture of the surgical cannula.

[0155] S1210, in response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm.

[0156] S1211, controlling the movement of the robot arm according to the current angle of the target joint and the third posture.

[0157] S1201 to S1211 can refer to the above embodiment and will not be repeated here. It can be seen that in the above process, it is only necessary to control the movement of the robotic arm to a larger range of cannula matching interval, which reduces the learning curve of medical staff. At the same time, when the end of the robotic arm is docked with the surgical cannula, the intelligent positioning of the surgical robot is achieved by controlling the movement of the robotic arm through the target joint. Therefore, this embodiment can reduce the difficulty of operating the surgical robot for medical staff and improve the ease of use and intelligence of the surgical robot.

[0158] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0159] Fig.13 FIG. 1 is a schematic diagram of a control system of a surgical robot in an embodiment of the present application. In an exemplary embodiment, Fig.13 As shown, the control system 1300 of the surgical robot includes a surgical robot 1301, a computer device 1302, and a sensor component 1303 arranged on the surgical robot.

[0160] The sensing component 1303 is used to obtain the first position of the surgical cannula placed in the region of interest.

[0161] The computer device 1302 is used to determine the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve, and control the end of the mechanical arm in the surgical robot 1301 to move into the sleeve activity space to dock with the surgical sleeve.

[0162] In the control system of the above-mentioned surgical robot, medical staff do not need to adjust the surgical cannula with one hand and the robotic arm with the other hand, and the robotic arm can be moved into the active space of the cannula to dock with the surgical cannula, thereby simplifying the complexity of operation.

[0163] The structure of the surgical robot is introduced below. It is understandable that the control method of the surgical robot and the control system of the surgical robot described above can be applied to the surgical robot described below.

[0164] Fig.14FIG. 1 is a schematic diagram of the structure of a surgical robot in an embodiment of the present application. In an exemplary embodiment, Fig.14 As shown, the surgical robot includes multiple robotic arms, which are robotic arm No. 1, robotic arm No. 2, robotic arm No. 3 and robotic arm No. 4 from left to right. It can be understood that Fig.14 Only one optional mode of the surgical robot is illustrated, and this embodiment does not limit the type of the surgical robot and the number of robotic arms.

[0165] Please continue to refer to Fig.14 Each robot arm may include an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism, and the telecentric mechanism can move relative to the adjustment mechanism. The adjustment mechanism and the telecentric mechanism each include at least one joint, and the joints in the adjustment mechanism and the telecentric mechanism may be active joints.

[0166] The telecentric mechanism is connected to the adjustment mechanism and the surgical cannula respectively, and is used to further constrain the telecentric point of the robotic arm to remain stationary, that is, to constrain the terminal position of the robotic arm. In other words, the telecentric mechanism realizes the posture adjustment of the terminal of the robotic arm around the incision point on the patient, and the adjustment mechanism realizes the support and positioning of the telecentric mechanism. During the movement of the adjustment mechanism, it will also drive the telecentric mechanism to move accordingly. It can be seen that the positioning of the adjustment mechanism directly determines the layout and posture of the surgical instruments during the operation, thereby affecting the flexibility and safety of the surgical instruments.

[0167] For example, Fig.14 Robot arm No. 4, i.e., robot arm 1401 includes an adjustment mechanism 1402 and a telecentric mechanism 1403 . The adjustment mechanism 1402 and the telecentric mechanism 1403 are connected, and the telecentric mechanism 1403 can move relative to the adjustment mechanism 1402 .

[0168] Please continue to refer to Fig.14 Further optionally, the adjustment mechanism 1402 of the robot arm 1401 may include an end rotation joint 1402a, a crossbar assembly 1402b and an axial support assembly 1402c.

[0169] The end rotation joint 1402a is disposed at one end of the crossbar assembly 1402b for rotating the crossbar assembly 1402b in the horizontal direction, and the axial support assembly 1402c is disposed between the crossbar assembly 1402b and the telecentric mechanism 1403. Optionally, the target joint may be the end rotation joint 1402a.

[0170] Combination Fig.14It can be seen that the position of the fixed point can be achieved with only three active joints, and in this embodiment, since the adjustment mechanism includes four active joints, there is one redundant degree of freedom. By using the redundant joint as the target joint, the surgical robot can be positioned in a better surgical operation space, thereby meeting the requirements of the surgical space.

[0171] Please continue to refer to Fig.14 In an exemplary embodiment, the surgical robot may further include a trolley mechanism 1404, and each mechanical arm in the surgical robot is connected to the trolley mechanism 1404. The trolley mechanism 1404 is used to fix or adjust the posture of the mechanical arm. In other words, the trolley mechanism 1404 can provide support and positioning for the adjustment mechanism in the mechanical arm.

[0172] In an exemplary embodiment, further optionally, the trolley mechanism 1404 may include a trolley base 1404a, a trolley lifting assembly 1404b, a trolley first rotating assembly 1404c, a trolley moving assembly 1404d, a trolley second rotating assembly 1404e and a trolley orientation assembly 1404f.

[0173] The trolley base 1404a is used to provide overall support for the surgical robot and a reference for the placement of the surgical robot. Optionally, the trolley base 1404a is connected to the ground in a floating manner through a lifting mechanism.

[0174] The first end of the trolley lifting assembly 1404b is arranged on the trolley base 1404a, which can be extended and retracted up and down, and is used to drive the trolley orientation assembly 1404f to move up and down. The trolley first rotating assembly 1404c is arranged on the second end of the trolley lifting assembly 1404b, and is used to drive the trolley orientation assembly 1404f to rotate in the horizontal direction. The trolley moving assembly 1404d is telescopically connected to the trolley lifting assembly 1404b. In the process of moving the trolley lifting assembly 1404b, the distance between the trolley moving assembly 1404d and the trolley lifting assembly 1404b can be adjusted to adjust the position of the trolley orientation assembly 1404f in space. The trolley second rotating assembly 1404e is also used to drive the trolley orientation assembly 1404f to rotate in the horizontal direction. The trolley orientation assembly 1404f is used to connect each mechanical arm.

[0175] In other words, the above-mentioned trolley lifting assembly 1404b, trolley first rotating assembly 1404c, and trolley moving assembly 1404d are used to position the trolley orientation assembly 1404f. Specifically, the trolley lifting assembly 1404b is used to position the trolley orientation assembly 1404f in the vertical direction; the trolley first rotating assembly 1404c and the trolley moving assembly 1404d are used together to position the trolley orientation assembly 1404f in the plane space. Therefore, the positioning of the trolley orientation assembly 1404f in space can be fully achieved through the trolley lifting assembly 1404b, the trolley first rotating assembly 1404c, and the trolley moving assembly 1404d.

[0176] Furthermore, the second rotating component 1404e of the trolley mainly realizes the posture adjustment of the trolley orientation component 1404f within the plane. In this way, the support and positioning of the adjustment mechanism can be achieved through the four motion units of the trolley mechanism, so that the surgical instruments connected to the robotic arm during the operation have a larger effective movement space, thereby covering the patient's lesions and having a larger obstacle avoidance space.

[0177] Fig.15 FIG. 1 is a schematic diagram of a structure of an adjustment mechanism in an embodiment of the present application. In an exemplary embodiment, Fig.14 On the basis of Fig.15 As shown, the crossbar assembly 1402 b includes a translation joint 1501 , and the axial support assembly 1402 c includes an axial rotation joint 1502 and a pitch joint 1503 .

[0178] The movable joint 1501 is disposed on the side of the crossbar assembly 1402b facing the axial support assembly 1402c, and is used to drive the axial support assembly 1402c to move along the side of the crossbar assembly 1402b. The crossbar assembly 1402b includes but is not limited to a slide rail.

[0179] The axial rotation joint 1502 is disposed at one end of the axial support assembly 1402c close to the crossbar assembly 1402b, and is used to drive the axial support assembly 1402c to rotate in the horizontal direction. The pitch joint 1503 is disposed between the axial support assembly 1402c and the telecentric mechanism 1403, and is used to adjust the pitch angle of the telecentric mechanism 1403.

[0180] Fig.16 Schematic diagram of the structure of a telecentric mechanism in the embodiment of the present application. Fig.16 As shown, the telecentric mechanism in the above surgical robot includes a swivel joint 1601 , an active pitch portion 1602 , a first passive pitch portion 1603 , a second passive pitch portion 1604 and an instrument joint 1605 .

[0181] Optionally, the active pitch portion 1602 includes an active pitch joint 1602a and an active pitch link 1602b. The first passive pitch portion 1603 includes a first passive pitch joint 1603a and a first passive pitch link 1603b. The second passive pitch portion 1604 includes a second passive pitch joint 1604a and a second passive pitch link 1604b.

[0182] The swivel joint 1601 is connected to the adjustment mechanism; the active pitch joint 1602a is arranged at one end of the active pitch link 1602b; the other end of the active pitch link 1602b is connected to one end of the first passive pitch link 1603b through the first passive pitch joint 1603a. The other end of the first passive pitch link 1603b is connected to the second passive pitch link 1604b through the second passive pitch link 1604a. The instrument joint 1605 is arranged on the second passive pitch link 1604b.

[0183] Further optionally, the speeds among the active pitch joint 1602a, the first passive pitch joint 1603a and the second passive pitch joint 1604a are less than a preset difference. The preset difference is a number close to 0. For example, the speeds among the active pitch joint 1602a, the first passive pitch joint 1603a and the second passive pitch joint 1604a are equal.

[0184] Furthermore, the active pitch joint 1602a, the first passive pitch joint 1603a, the second passive pitch joint 1604a and the end P of the robotic arm form a parallelogram. In this way, the rotation axis of the swivel joint 1601 is parallel to the first passive pitch link 1603b, so that the rotation axis of the swivel joint 1601 and the rotation axis of the above parallelogram converge at one point, so that the movement of the telecentric mechanism can perform posture adjustment movement around the incision point on the patient. In other words, the telecentric mechanism does not affect the end posture of the robotic arm during movement. Among them, Fig.16 Point P in the figure can be understood as the end of the robotic arm.

[0185] Fig.17 is a schematic diagram of a sensor component in an embodiment of the present application. In an exemplary embodiment, Fig.14 On the basis of, the sensing component 1405 includes a supporting arm 1405a and a sensor 1405b.

[0186] The first end of the support arm 1405a is connected to the surgical robot. Optionally, the first end of the support arm 1405a is connected to the trolley orientation component 1404f.

[0187] The second end of the support arm 1405a is provided with a sensor 1405b. The sensor 1405b includes but is not limited to a visual sensor, a position sensor, a posture sensor, and a magnetic field sensor. When the sensor 1405b is a magnetic field sensor, the surgical sleeve includes a magnetic material.

[0188] In this embodiment, since the sensing component includes a support arm and a sensor, the first end of the support arm is connected to the surgical robot, and the second end of the support arm is provided with a sensor, the first posture of the surgical cannula can be obtained by using the sensing component.

[0189] In an exemplary embodiment, optionally, the sensing component is retractably connected to the surgical robot.

[0190] Please continue to refer to Fig.14 and Fig.17 Optionally, the first end of the support arm 1405a is telescopically connected to the trolley orienting assembly 1404f.

[0191] In this embodiment, since the sensor component and the surgical robot are retractably connected, medical staff can extend the sensor component from the surgical robot when in use, and retract the sensor component into the surgical robot when not in use, thereby reducing space occupancy.

[0192] Based on the same inventive concept, the embodiment of the present application also provides a control device for a surgical robot for implementing the control method of the surgical robot involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more surgical robots provided below can refer to the limitations of the control method for the surgical robot above, and will not be repeated here.

[0193] Fig.18 is a structural block diagram of a control and adjustment device for a surgical robot in an embodiment of the present application. In an exemplary embodiment, Fig.18 As shown, a control device 1800 of a surgical robot is provided, comprising: an acquisition module 1801, a first determination module 1802 and a first control module 1803, wherein:

[0194] The acquisition module 1801 is used to acquire the first position of the surgical cannula placed in the region of interest.

[0195] The first determination module 1802 is used to determine the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve.

[0196] The first control module 1803 is used to control the end of the mechanical arm in the surgical robot to move into the sleeve activity space to dock with the surgical sleeve.

[0197] In the control device of the above-mentioned surgical robot, by obtaining the first position of the surgical cannula placed in the region of interest, and according to the first position and the attribute information of the surgical cannula, the cannula activity space corresponding to the surgical cannula is determined. Then, the end of the robotic arm in the surgical robot can be controlled to move into the cannula activity space. Since the robotic arm can automatically move into the cannula activity space that the surgical cannula can reach, the robotic arm can easily dock with the surgical cannula. In the above process, there is no need for medical staff to adjust the surgical cannula with one hand and the robotic arm with one hand, so that the robotic arm can move into the cannula activity space and dock with the surgical cannula. Therefore, the device provided by this embodiment can simplify the complexity of operation. Furthermore, since the dependence on medical staff is reduced, the control efficiency and intelligence of the surgical robot can also be improved.

[0198] Optionally, the first control module 1803 includes:

[0199] The first determining unit is used to determine the candidate point in the sleeve activity space.

[0200] The second determining unit is used to determine the target point from the candidate points.

[0201] The control unit is used to control the movement of the robot arm according to the position and posture of the target point, so that the end of the robot arm moves to the sleeve activity space.

[0202] Optionally, the first determining unit includes:

[0203] The solver unit is used to perform inverse kinematics solution on the robot arm according to the position and posture of each spatial point in the casing activity space.

[0204] The first determination subunit is used to take a spatial point with an inverse solution as a candidate point.

[0205] Optionally, the control unit comprises:

[0206] The second determination subunit is used to perform inverse kinematics solution on the robot arm according to the position and posture of the target point to determine the target angle of each joint in the robot arm.

[0207] The control subunit is used to control the movement of the robot arm according to the target angle and current angle of each joint in the robot arm.

[0208] Optionally, the sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex.

[0209] Optionally, the acquisition module 1801 includes:

[0210] The acquisition unit is used to acquire, through the sensor, a second posture of the surgical cannula in a first coordinate system corresponding to the sensor.

[0211] The third determination unit is used to determine the first posture according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0212] Optionally, the control device 1800 of the surgical robot further includes:

[0213] The second determination module is used to determine the third posture of the surgical cannula when the end of the robotic arm is docked with the surgical cannula.

[0214] The third determination module is used to determine the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm.

[0215] The second control module is used to control the movement of the robot arm according to the current angle of the target joint and the third posture.

[0216] Each module in the control device of the above surgical robot can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0217] Fig.19 The internal structure diagram of the computer device in the embodiment of the present application is shown in FIG. 1 . In an exemplary embodiment, a computer device is provided. The computer device may be a server. The internal structure diagram thereof may be as shown in FIG. Fig.19 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a surgical robot is implemented.

[0218] Those skilled in the art will understand that Fig.19The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0219] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0220] Obtaining the first pose of the surgical cannula placed within the region of interest;

[0221] Determining a cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula;

[0222] The end of the mechanical arm in the surgical robot is controlled to move into the sleeve activity space to dock with the surgical sleeve.

[0223] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0224] Determine candidate points in the sleeve activity space; determine a target point from the candidate points; and control the movement of the robotic arm according to the position and posture of the target point so that the end of the robotic arm moves to the sleeve activity space.

[0225] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0226] According to the position and posture of each spatial point in the sleeve activity space, the inverse kinematics solution of the robot arm is performed; and the spatial points with inverse solutions are used as the candidate points.

[0227] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0228] The inverse kinematics solution of the robotic arm is performed according to the position and posture of the target point to determine the target angle of each joint in the robotic arm; and the movement of the robotic arm is controlled according to the target angle and current angle of each joint in the robotic arm.

[0229] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0230] The sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex.

[0231] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0232] The second posture of the surgical cannula in the first coordinate system corresponding to the sensor is obtained through a sensor; the first posture is determined according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0233] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0234] When the end of the robotic arm is docked with the surgical cannula, the third posture of the surgical cannula is determined; in response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; and the movement of the robotic arm is controlled according to the current angle of the target joint and the third posture.

[0235] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0236] Obtaining the first pose of the surgical cannula placed within the region of interest;

[0237] Determining a cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula;

[0238] The end of the mechanical arm in the surgical robot is controlled to move into the sleeve activity space to dock with the surgical sleeve.

[0239] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0240] Determine candidate points in the sleeve activity space; determine a target point from the candidate points; and control the movement of the robotic arm according to the position and posture of the target point so that the end of the robotic arm moves to the sleeve activity space.

[0241] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0242] According to the position and posture of each spatial point in the sleeve activity space, the inverse kinematics solution of the robot arm is performed; and the spatial points with inverse solutions are used as the candidate points.

[0243] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0244] The inverse kinematics solution of the robotic arm is performed according to the position and posture of the target point to determine the target angle of each joint in the robotic arm; and the movement of the robotic arm is controlled according to the target angle and current angle of each joint in the robotic arm.

[0245] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0246] The sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex.

[0247] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0248] The second posture of the surgical cannula in the first coordinate system corresponding to the sensor is obtained through a sensor; the first posture is determined according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0249] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0250] When the end of the robotic arm is docked with the surgical cannula, the third posture of the surgical cannula is determined; in response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; and the movement of the robotic arm is controlled according to the current angle of the target joint and the third posture.

[0251] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0252] Obtaining the first pose of the surgical cannula placed within the region of interest;

[0253] Determining a cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula;

[0254] The end of the mechanical arm in the surgical robot is controlled to move into the sleeve activity space to dock with the surgical sleeve.

[0255] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0256] Determine candidate points in the sleeve activity space; determine a target point from the candidate points; and control the movement of the robotic arm according to the position and posture of the target point so that the end of the robotic arm moves to the sleeve activity space.

[0257] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0258] According to the position and posture of each spatial point in the sleeve activity space, the inverse kinematics solution of the robot arm is performed; and the spatial points with inverse solutions are used as the candidate points.

[0259] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0260] The inverse kinematics solution of the robotic arm is performed according to the position and posture of the target point to determine the target angle of each joint in the robotic arm; and the movement of the robotic arm is controlled according to the target angle and current angle of each joint in the robotic arm.

[0261] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0262] The sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex.

[0263] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0264] The second posture of the surgical cannula in the first coordinate system corresponding to the sensor is obtained through a sensor; the first posture is determined according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

[0265] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0266] When the end of the robotic arm is docked with the surgical cannula, the third posture of the surgical cannula is determined; in response to a dragging operation on a target joint in the robotic arm, the current angle of the target joint is determined; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; and the movement of the robotic arm is controlled according to the current angle of the target joint and the third posture.

[0267] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0268] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0269] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for a surgical robot, characterized in that: The method comprises: Obtaining the first pose of the surgical cannula placed within the region of interest; Determining a cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula; The end of the mechanical arm in the surgical robot is controlled to move into the sleeve activity space to dock with the surgical sleeve.

2. The method according to claim 1, characterized in that The controlling the end of the mechanical arm of the surgical robot to move into the sleeve activity space comprises: determining candidate points in the sleeve activity space; Determine a target point from the candidate points; The movement of the robotic arm is controlled according to the position and posture of the target point, so that the end of the robotic arm moves to the sleeve activity space.

3. The method according to claim 2, characterized in that The determining of the candidate points in the sleeve activity space comprises: According to the position and posture of each spatial point in the sleeve activity space, the inverse kinematics solution is performed on the robot arm; A spatial point for which an inverse solution exists is taken as the candidate point.

4. The method according to claim 2, characterized in that: The controlling the movement of the robotic arm according to the position and posture of the target point comprises: Performing inverse kinematics solution on the robotic arm according to the position and posture of the target point to determine the target angle of each joint in the robotic arm; The movement of the robotic arm is controlled according to the target angle and current angle of each joint in the robotic arm.

5. The method according to any one of claims 1 to 4, characterized in that: The sleeve activity space includes a conical space with the sleeve position corresponding to the first posture as the vertex.

6. The method according to any one of claims 1 to 4, characterized in that: The step of obtaining the first posture of the surgical cannula placed in the region of interest comprises: Acquire, by means of a sensor, a second position of the surgical cannula in a first coordinate system corresponding to the sensor; The first posture is determined according to the coordinate transformation relationship and the second posture; the coordinate transformation relationship is used to characterize the transformation relationship between the first coordinate system and the second coordinate system corresponding to the surgical robot, and the first posture is the posture of the surgical cannula in the second coordinate system.

7. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the end of the robotic arm is docked with the surgical cannula, determining a third posture of the surgical cannula; In response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in the robotic arm used to adjust the position of the robotic arm; The movement of the robotic arm is controlled according to the current angle of the target joint and the third posture.

8. A control system for a surgical robot, characterized in that: The control system includes a surgical robot, a computer device, and a sensor component provided on the surgical robot; The sensing component is used to obtain the first position of the surgical cannula placed in the region of interest; The computer device is used to determine the sleeve activity space corresponding to the surgical sleeve according to the first posture and the attribute information of the surgical sleeve, and control the end of the robotic arm in the surgical robot to move into the sleeve activity space to dock with the surgical sleeve.

9. The system according to claim 8, characterized in that The sensing component includes a supporting arm and a sensor; the first end of the supporting arm is connected to the surgical robot, and the second end of the supporting arm is provided with the sensor.

10. The system according to claim 8, characterized in that The sensing component is retractably connected to the surgical robot.

11. A control device for a surgical robot, characterized in that: The control device comprises: An acquisition module, used for acquiring a first position of a surgical cannula placed in a region of interest; A first determination module, configured to determine a cannula activity space corresponding to the surgical cannula according to the first posture and the attribute information of the surgical cannula; The first control module is used to control the end of the mechanical arm in the surgical robot to move into the sleeve activity space so as to dock with the surgical sleeve.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

14. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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